Figure



1965 o. s. JELATIS ETAL 3,164,257

smzn MASTER-SLAVE MANIPULATOR 23 Sheets-Sheet 1 Filed March 27. 1961 R w mnmmwe mmuM in mfi m mam wnm u u m E05 m 0 Jan. 5, 1965 D. s. JELATIS ETAL 3,164,267

SEALED MASTER-SLAVE MANIPULATOR 25 Sheets-Sheet 2 Filed March 27. 1961 m m m M MK N as m m w we I SAW n wrm mmT 51 L M 9 GE 1 .mN\ 3 i e h 0 0 MW 2 3m 1965 0. ca. JELATIS ETAL 3,164,267

smuao MASTER-SLAVE MANIPULATOR 23 Sheets-Sheet 3 Filed March 27. 1961 Jan. 5, 1965 D. e. JELATIS ETAL 3,164,267

SEALED MASTER-SLAVE MANIPULATOR Filed March 27. 1961 23 Sheets-Sheet 4 INVENTORS DEME new: 6. Jmrls RaBERT/I. OLSEN L ESTER W MAKER 5 1 M ATTQRNE Y:

Jan. 5, 1965 D. G. JELATIS ETAL 3,164,267

sumo MASTER-SLAVE MANIPULATOR 23 Sheets-Sheet 5 Filed March 27. 1951 FIG. 9

mm"? M mflmfm V 0 W AWM wTR m 1 M M J81!- 1965 D. ca. JELATIS ETAL 3,164,267

SEALED MASTER-SLAVE MANIPULATOR 23 Sheets-Sheet 6 Filed March 27. 1951 FIG. I I

s m I R T E 5 E MMM MM m mdfl u... r N A [WA MTR rm.

Jan. 5, 1965 D. cs. JELATIS ETAL 3,164,267

SEALED MASTER-SLAVE MANIPULATOR 23 Sheets-Sheet 7 Filed March 27, 1961 FIG. /5

J M R v mwmww 1 w w? A 5 3 E 0 W Jan. 5, 1965 o. s. JELATIS ETAL 3,164,267

SEALED MASTER-SLAVE MANIPULATOR 23 Sheets-Sheet 8 Filed March 27. 1951 7 w m w 1 mm 3 2 I m 2 E M a a 1 4 3 3 w u, q, a u in a J I 1 U n o QIIU A m o N u M M a 6 a s P! h l m a PI- H s R r n E m W WMMM mJLm V6.0. r w A W R m m w Jan. 5, 1965 Filed March 27. 1951 D. G. JELATIS ETAL SEALED MASTER-SLAVE MANIF'ULATOR 23 Sheets-Sheet l1 INVENTORS DEME TRIUJ GJELA T/S o ROBERT/{OLSEN ZssrERl M AAKER ATTORNEYS SEALED MASTER-SLAVE MANIPULATUR Filed March 27, 1951 23 Sheets-Sheet 12 INVENTORS DEMETRIUJ G. fem-r1:

Raasnv-A OLSEN LESTER W [1AA KER Arranmsv:

Jan. 5, 1965 D. G. JELATIS ETAL 3,164,267

SEALED MASTER-SLAVE MANIPULATOR 23 Sheets-Sheet 15 Filed March 27, 1951 IN VEN TORJ DEMETRIUJ GZJELATIS By ROBERT/4.0LJEN L ESTER W. fi/MKER h wmw Nam MON

EN EN QM 4 e u l ATTORNEYLS Jan. 5, 1965 D. a. JELATIS ETAL 3,164,267

SEALED MASTER-SLAVE MANIPULATOR Filed March 27, 1961 23 Sheets-Sheet 14 F/G. 26A

INVEN TOR: DEME mm: 6. Jinn-r1:

ROBERT A. OLJEN L ESTER W H/l/IKER A TTORNEFJ Jan. 1965 D. G. JELATlS ETAL 3,164,267

SEALED MASTER-SLAVE MANIPULATOR 23 Sheets-Sheet 15 Filed March 27. 1961 s R w I E E 5 T K M W MM m 1 V 0 T G 15A A Z 2.; Mos m L MR Q QNN Jan. 5, 1965 D. G. JELATIS ETAL Filed March 27. 1951 SEALED MASTER-SLAVE MANIPULATOR 23 Sheets-Sheet 16 INVENTORJ DEMETRll/J 6. JH A 770' Reamer/4. OLJEN L ESTER W HAAKER wiw v! ATTaRNsYJ 5, 1965 D. a. JELATIS ETAL 7 SEALED MASTER-SLAVE MANIPULATOR Filed March 27. 1961 23 Sheets-Sheet l7 INVENTORJ DEMETRIUS G. JEurr/s ROBERTA. OLSEN LESTER Ml. l/AA KER g! %1.IWXM

ArraR/ve v:

Jan. 5, 1965 D. s. JELATIS ETAL 3,164,267

SEALED MASTER-SLAVE MANIFULATOR Filed March 27. 1961 23 Sheets-Sheet 19 INVENTORS DEME TRIUS 6. .2750! n: ROBERT/4. 0L JEN [ES 75!? W HAAKER ATTORNEY Jan. 5, 1965 0. s. JELATIS ETAL 3,164,267

SEALED MASTER-SLAVE MANIPULATOR Filed March 27, 1961 23 Sheets-Sheet 26) FIG. 35

uvvzurons- Osmsrmus 63/24/111: RoBsR'rA OLSEN L ESTER W IYMKER {x a t fl fi M Arramvsv: 

1. A REMOTE CONTROL MASTER-SLKAVE MANIPULATOR ADAPTED FOR OPERATION THROUGH A BARRIER WALL SEPARATING DIFFERENT ENVIRONMENTS, SAID MANIPULATOR COMPRISING A PIVOTED MASTER ARM ASSEMBLY ADAPTED TO BE POSITIONED ON ONE SIDE OF A BARRIER WALL, A PIVOTED SLAVE ARM ASSEMBLY ADAPTED TO BE POSITIONED ON THE OTHER SIDE OF THE BARRIER WALL, AND A SEAL TUBE ASSEMBLY ADAPTED TO EXTEND THROUGH THE BARRIER WALL AND BE SEALED THEREIN, SAID MASTER ARM ASSEMBLY AND SAID SLAVE ARM ASSEMBLY BEING PIVOTED ON INDEPENDENT AXES WHICH ARE PERPENDICULAR TO THE LONGITUDINAL AXIS OF SAID SEAL TUBE ASSEMBLY, SAID SEAL TUBE ASSEMBLY INCLUDING A CLOSED WALL MEMBER SEPARATING THE ENVIRONMENTS, A PLURALITY OF ROTARY MECHANICAL SEALS EXTENDING THROUGH THE CLOSED WALL OF SAID SEAL TUBE ASSEMBLY AND INTERCONNECTING SAID MASTER AND SLAVE ARM ASSEMBLIES SAID ROTARY MECHANICAL SEALS HAVING SPACED APART INDEPENDENT AXES, ONE END OF EACH OF SAID ROTARY MECHANICAL SEALS BEING RESPONSIVE TO MANIPULATOR MOTIONS OF THE MASTER ARM, SAID ROTARY MECHANICAL SEALS BEING ADAPTED TO TRANSMIT SAID MOTIONS TO THE OPPOSITE END OF SAID ROTARY MECHANICAL SEALS, MANIPULATOR MOVEMENTS IN THE SLAVE ARM BEING RESPONSIVE TO ROTATION OF SAID ROTARY MECHANICAL SEALS. 